论文总字数：24488字

摘 要

随着社会的飞速发展与进步，外骨骼机器人在许多领域都有着广泛的应用。本文主要针对大型制造领域，有许多重量较重的物体需要工人搬运装配，长此以往，不仅效率低下，对于工人的身体也是一种危害。所以本文设计了一种无动力的可穿戴的外骨骼装置，能在工人搬运时平衡重物的重量，并在一定时间内保持某种姿态，以帮助工人减轻负重、降低工作难度，减轻体力活动对身体的伤害。

本文首先根据大量的参考文献，首先对重力平衡的原理进行了分析，并利用adams软件对重力平衡的效果进行了仿真分析。然后结合人因工程学给出了外骨骼的整体的结构设计，在下肢的膝关节处运用了一些连杆、滑块以及弹簧的组合结构加强了整体外骨骼的协调性、使用性和良好的传力性。在对姿态进行详细的分析后，运用重力平衡原理，通过在连杆间添加弹簧的方式，给出了上肢搬运的结构设计，整体结构中多处使用到了弹簧，对弹簧的参数进行了严格的计算和校核，确保满足强度和任务需求。通过solidworks对整体的结构进行了建模和运动分析，而后通过ansys中的有限元分析对于关键部位的零件进行了受力分析和强度校核，结果显示外骨骼的整体设计基本符合要求，能够完成任务的需求。

关键词：重力平衡，弹簧，结构设计，有限元分析

Structure design of heavy lifting exoskeleton

02014321 ZHONG Yi

Supervised by TIAN Mengqian

Abstract

With the rapid development and progress of society, exoskeleton robot has been widely applied in many fields. In this paper, a lot of heavy objects are required to be transported and assembled in large scale manufacturing fields. In the long run, it is not only inefficient, but also a harm to the workers' body. So a wearless and wearable exoskeleton device is designed to balance the weight of heavy objects to help workers reduce or even eliminate weight.It can also help workers to carry heavy objects and maintain a certain posture for a certain time so as to complete the operation.Consequently,it can improve work efficiency and reduce the difficulty of the work for the workers and the degree of injury to the workers' body.

This paper is based on a large number of references.At first,the principle of gravity balance is analyzed, and the effect of gravity balance is simulated and analyzed by using ADAMS software. Then the overall structural design of exoskeleton is given in combination with human engineering. The combined structure of some connecting rods, sliders and springs in the knee joints of the lower extremities strengthens the coordination, usability and good power transmission of the whole exoskeleton. After the detailed analysis of the posture, using the principle of gravity balance, by adding the spring between the connecting rod, the structure design of the upper limb is given. The spring is used in the whole structure, and the parameters of the spring are strictly calculated and checked to ensure that the strength and task demand are met. The whole structure is modeled and analyzed by SolidWorks, and then the force analysis and strength checking are carried out on the parts of the key parts through the finite element analysis in ANSYS. The results show that the overall design of the exoskeleton basically meets the requirements and can fulfill the requirement of the task.

KEY WORDS: gravity balance,spring,Structural design,finite element analysis

目录

摘要 I

Abstract II

第一章 绪论 1

1.1 研究背景及意义 1

1.1.1 选题背景 1

1.1.2 选题研究意义 1

1.2 研究现状 1

1.2.1 国外研究现状 1

1.2.2 国内研究现状 3

1.3 课题主要研究内容 5

第二章 重力平衡原理分析 6

2.1 重力平衡原理简介 6

2.1.1 单自由度重力平衡 6

2.1.2 平行四边形重力平衡 7

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